CN112270055A - Robot stress analysis method, stress analysis device and processor - Google Patents
Robot stress analysis method, stress analysis device and processor Download PDFInfo
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Abstract
The application provides a stress analysis method and a stress analysis device of a robot and a processor. The method comprises the following steps: importing a STEP format file of a part to be analyzed of the robot into finite element analysis software; dividing a part to be analyzed into grids; determining material properties of a component to be analyzed; establishing a correlation between mutually contacting portions of the components to be analyzed; setting an analysis step; and calculating the stress borne by the joint part and the stress borne by the screw. In the method, the stress borne by the joint part and the stress borne by the screw can be accurately calculated through finite element analysis software, and then the strength analysis can be carried out on the joint part and the screw, so that the problem that the stress borne by the joint part and the screw is difficult to detect and analyze is solved.
Description
Technical Field
The present application relates to the field of robots, and in particular, to a stress analysis method for a robot, a stress analysis apparatus, a computer-readable storage medium, and a processor.
Background
Each casting joint of the industrial robot comprises parts, the connection mode is basically that the parts are fastened by screws, and the screws can apply pretightening force and torsion on the parts. The mechanical analysis stress condition of the casting and the joint parts can be influenced by applying forces with different magnitudes. The joint is stressed too much due to excessive applied force, and the screw may be broken.
Therefore, in practical use, it is very important to analyze the magnitudes of stresses on the joint component and the screw, but in the prior art, there is basically no method for detecting and analyzing the magnitudes of stresses on the joint component and the screw.
The above information disclosed in this background section is only for enhancement of understanding of the background of the technology described herein and, therefore, certain information may be included in the background that does not form the prior art that is already known in this country to a person of ordinary skill in the art.
Disclosure of Invention
The main objective of the present application is to provide a stress analysis method, a stress analysis device, a computer-readable storage medium, and a processor for a robot, so as to solve the problem in the prior art that it is difficult to detect and analyze the stresses applied to joint components and screws.
According to an aspect of an embodiment of the present invention, there is provided a stress analysis of a robot, including: importing a STEP format file of a component to be analyzed of a robot into finite element analysis software, wherein the component to be analyzed comprises a joint and a screw connected with the joint; dividing grids for the component to be analyzed; determining material properties of the component to be analyzed; establishing a correlation between mutually contacting portions of the components to be analyzed; setting analysis steps, and applying boundary conditions and loads of each analysis step; and calculating the stress borne by the joint part and the stress borne by the screw by utilizing the finite element analysis software according to the material property, the binding constraint relation, the boundary condition and the load.
Optionally, meshing the component to be analyzed includes: dividing the joint into tetrahedral second order units; the screw is divided into hexahedral units.
Optionally, determining material properties of the component to be analyzed comprises: determining the elastic modulus and poisson's ratio of the joint; determining the elastic modulus and Poisson's ratio of the screw.
Optionally, establishing a mutual relationship between mutually contacting portions of the components to be analyzed comprises: establishing surface-to-surface contact between the joints in contact with each other; and establishing surface-to-surface contact between the mutually contacted joint and the screw, and establishing the binding constraint relation between the mutually contacted screw and the joint.
Optionally, establishing the binding relationship between the screw and the joint in contact with each other comprises: determining the part of the joint connected with the screw as a main surface of constraint; determining the surface of the screw connected with the joint as a slave surface; and carrying out binding constraint between the main surface and the auxiliary surface to form the binding constraint relation.
Optionally, after the step of setting the analysis, before calculating the stress of the joint component and the stress of the screw using the finite element analysis software according to the material property, the binding constraint, the boundary condition, and the load, the method further comprises: and setting static analysis in the analysis step.
Optionally, applying the boundary conditions and the load for each of the analysis steps comprises: fixing the joint, applying a bolt pre-tightening force to the screw, the bolt pre-tightening force sigmaca＝1.3F0/πd1 2/4, wherein F0Is that it isPre-tightening force, sigma, to the boltcaIs the stress to which the bolt is subjected, d1Is the bolt radius.
Optionally, after calculating the stress applied to the joint component and the stress applied to the screw by using the finite element analysis software according to the material property, the binding constraint relationship, the boundary condition and the load, the method further comprises: and judging whether the connection between the joint and the screw meets the strength requirement or not according to the stress borne by the joint part and the stress borne by the screw.
According to another aspect of the embodiments of the present invention, there is also provided a stress analysis apparatus of a robot, including: the system comprises an importing unit, a finite element analyzing unit and a control unit, wherein the importing unit is used for importing a STEP format file of a component to be analyzed of a robot into finite element analyzing software, and the component to be analyzed comprises a joint and a screw connected with the joint; the dividing unit is used for dividing grids for the component to be analyzed; a determination unit for determining a material property of the component to be analyzed; an establishing unit for establishing a mutual relationship between mutually contacting portions of the components to be analyzed; a first setting unit for setting analysis steps and applying a boundary condition and a load for each of the analysis steps; and the computing unit is used for computing the stress borne by the joint part and the stress borne by the screw by utilizing the finite element analysis software according to the material property, the binding constraint relation, the boundary condition and the load.
According to still another aspect of embodiments of the present invention, there is also provided a computer-readable storage medium including a stored program, wherein the program executes any one of the methods
According to still another aspect of the embodiments of the present invention, there is further provided a processor, configured to execute a program, where the program executes any one of the methods when running
In the embodiment of the invention, firstly, a STEP format file of a part to be analyzed of a robot is imported into finite element analysis software, wherein the part to be analyzed comprises a joint and a screw connected with the joint, then, the part to be analyzed is divided into grids, then, the material property of the part to be analyzed is determined, then, the mutual relation between the mutually contacted parts of the part to be analyzed is established, then, analysis STEPs are set, the boundary condition and the load of each analysis STEP are applied, and finally, the stress borne by the joint part and the stress borne by the screw are calculated by utilizing the finite element analysis software according to the material property, the binding constraint relation, the boundary condition and the load. According to the method, the joints of the robot and the screws connected with the joints are divided into grids, then the material properties of the joints and the screws are determined, the joints and the screws are in mutual contact, the mutual relation between the contact parts of the joints and the screws is established, the data is analyzed, the stress borne by the joint parts and the stress borne by the screws can be accurately calculated through finite element analysis software according to all the obtained data, and then the strength analysis can be carried out on the joint parts and the screws, so that the problem that the stress borne by the joint parts and the screws is difficult to detect and analyze is solved.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the application and, together with the description, serve to explain the application and are not intended to limit the application. In the drawings:
fig. 1 shows a schematic flow diagram of a method for stress analysis of a robot according to an embodiment of the application;
FIG. 2 is a view showing the positional relationship between the joint and the screw;
FIG. 3 shows a schematic diagram of a portion of the structure of FIG. 2;
fig. 4 shows a partial structural view of a portion a in fig. 3;
fig. 5 is a schematic structural diagram of a stress analysis apparatus of a robot according to an embodiment of the present application;
fig. 6 shows a schematic flow diagram of another robot stress analysis method according to an embodiment of the application.
Wherein the figures include the following reference numerals:
10. a first joint; 20. a second joint; 30. a screw; 40. a load applying face; 50. the face to which the binding constraint is applied.
Detailed Description
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present application will be described in detail below with reference to the embodiments with reference to the attached drawings.
In order to make the technical solutions better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only partial embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It should be understood that the data so used may be interchanged under appropriate circumstances such that embodiments of the application described herein may be used. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
It will be understood that when an element such as a layer, film, region, or substrate is referred to as being "on" another element, it can be directly on the other element or intervening elements may also be present. Also, in the specification and claims, when an element is described as being "connected" to another element, the element may be "directly connected" to the other element or "connected" to the other element through a third element.
As mentioned in the background of the invention, it is difficult to detect and analyze stresses applied to joint components and screws in the prior art, and in order to solve the above problems, in an exemplary embodiment of the present application, a robot stress analysis method, a stress analysis apparatus, a computer-readable storage medium, and a processor are provided.
According to an embodiment of the present application, a method of stress analysis of a robot is provided. Fig. 1 is a flowchart of a stress analysis method of a robot according to an embodiment of the present application. As shown in fig. 1, the method comprises the steps of:
STEP S101, importing a STEP format file of a part to be analyzed of a robot into finite element analysis software, wherein the part to be analyzed comprises a joint and a screw connected with the joint;
step S102, dividing grids for the component to be analyzed;
step S103, determining the material property of the component to be analyzed;
step S104, establishing the mutual relation among the mutually contacted parts of the components to be analyzed;
step S105, setting analysis steps, and applying boundary conditions and loads of each analysis step;
and step S106, calculating the stress borne by the joint part and the stress borne by the screw by using the finite element analysis software according to the material property, the binding constraint relation, the boundary condition and the load.
In the method, firstly, a STEP format file of a part to be analyzed of a robot is imported into finite element analysis software, wherein the part to be analyzed comprises a joint and a screw connected with the joint, then, the part to be analyzed is divided into grids, then, the material property of the part to be analyzed is determined, then, the mutual relation between the mutually contacted parts of the part to be analyzed is established, then, analysis STEPs are set, the boundary condition and the load of each analysis STEP are applied, and finally, the stress borne by the joint part and the stress borne by the screw are calculated by utilizing the finite element analysis software according to the material property, the binding constraint relation, the boundary condition and the load. According to the method, the joints of the robot and the screws connected with the joints are divided into grids, then the material properties of the joints and the screws are determined, the joints and the screws are in mutual contact, the mutual relation between the contact parts of the joints and the screws is established, the data is analyzed, the stress borne by the joint parts and the stress borne by the screws can be accurately calculated through finite element analysis software according to all the obtained data, and then the strength analysis can be carried out on the joint parts and the screws, so that the problem that the stress borne by the joint parts and the screws is difficult to detect and analyze is solved.
It should be noted that the steps illustrated in the flowcharts of the figures may be performed in a computer system such as a set of computer-executable instructions and that, although a logical order is illustrated in the flowcharts, in some cases, the steps illustrated or described may be performed in an order different than presented herein.
In an embodiment of the present application, the gridding the to-be-analyzed component includes: dividing the joint into tetrahedral second-order units; the screw 30 is divided into hexahedral units. As shown in fig. 2, the joints are divided into a first joint 10 and a second joint 20, the first joint 10 and the second joint 20 are divided into tetrahedral second-order units, the screw 30 is divided into hexahedral units, all data of the joints and the screw 30 can be obtained, after the data are divided into grids, each grid can be calculated subsequently, and the accuracy of the subsequent calculation result is guaranteed to be good.
In another embodiment of the present application, determining the material property of the component to be analyzed includes: determining the elastic modulus and Poisson's ratio of the joint; the modulus of elasticity and poisson's ratio of the screw are determined. In this embodiment, the elastic modulus of the joint is 70000MPa, the poisson's ratio is 0.33, the elastic modulus of the screw is 2000000MPa, and the poisson's ratio is 0.3, which can accurately determine the elastic modulus and poisson's ratio of the joint, the elastic modulus and poisson's ratio of the screw, and thus can more accurately determine the material properties of the component to be analyzed,
of course, in actual use, the elastic modulus and the poisson's ratio of the joint are not limited to the above data, and may be other data, and the elastic modulus and the poisson's ratio of the screw may be other data as well.
In still another embodiment of the present application, establishing a mutual relationship between the mutually contacting portions of the above-mentioned components to be analyzed includes: establishing surface-to-surface contact between the joints in contact with each other; the surface-to-surface contact between the joint and the screw 30 is established, and the binding relationship between the screw 30 and the joint is established. In this embodiment, a surface-to-surface contact between the first joint 10 and the second joint 20 in fig. 2 may be established, a surface-to-surface contact between the plurality of screws 30 and the first joint 10 may also be established, and a binding constraint relationship between the screws 30 and the second joint 20 that are in contact with each other may also be established, so that an accurate correlation between the first joint 10, the second joint 20, and the screws 30 may be established, and it may be further ensured that a result of calculating stresses borne by the joint components and the screws 30 is accurate subsequently.
In yet another embodiment of the present application, the establishing the binding relationship between the screw and the joint in contact with each other includes: defining a portion of the joint connected to the screw as a principal surface of constraint; determining the surface of the screw connected with the joint as a slave surface; and binding and constraining the main surface and the auxiliary surface to form the binding and constraining relationship. In this embodiment, the constraint type may be Tie, the portion of the joint connected to the screw may be used as a master surface, the surface of the screw connected to the joint may be used as a slave surface, and the binding constraint may be established according to the master surface and the slave surface, so that a more accurate binding constraint relationship may be formed, a contact attribute with coulomb Friction may also be defined, mechanical — probabilistic Behavior may be used to change the Friction type to Friction Behavior: the friction factor may be 0.15, and this embodiment may establish a more accurate correlation between the portions of the parts to be analyzed that are in contact with each other, and may subsequently further ensure that the calculation result is more accurate.
In a specific embodiment of the present application, after the step of setting the analysis, before calculating the stress of the joint component and the stress of the screw by using the finite element analysis software according to the material property, the binding constraint, the boundary condition, and the load, the method further includes: and setting statics analysis in the analysis step. In this embodiment, the data is analyzed by using the statics analysis, so that a relatively accurate analysis result can be obtained, and the calculation speed can be increased.
In another embodiment of the present application, applying the boundary condition and the load of each of the above analysis steps includes a process of applying a load (loading bolt pretension), the process of applying a load including: fixing the joint, applying a bolt pretightening force to the screw 30, the bolt pretightening force sigmaca＝1.3F0/πd1 2/4, wherein F0For pre-tightening force, sigma, to which the bolt is subjectedcaIs the stress to which the bolt is subjected, d1Is the bolt radius. In this embodiment, bolt pretension is applied to the screw 30, as shown in FIG. 3, bolt load and binding constraint can also be applied to the screw 30, as shown in FIG. 4, which shows the face 40 that applies load to the screw 30 and the face 50 that applies binding constraint, F0Has the unit of N, d1The unit of (2) is mm, bolt pretightening force is applied to the screws 30, the obtained data can be analyzed and solved, the model can be composed of two joints and 7 screws 30, and the model is analyzed and processed through the previous steps, so that more accurate analyzed data can be obtained.
In yet another embodiment of the present application, after calculating the stress applied to the joint component and the stress applied to the screw by using the finite element analysis software according to the material property, the binding constraint relationship, the boundary condition, and the load, the method further includes: and judging whether the connection between the joint and the screw meets the strength requirement or not according to the stress borne by the joint part and the stress borne by the screw. In the embodiment, through the previous steps, the stress change conditions of the first joint, the second joint and the screw can be checked according to the cloud picture, so that whether the connection between the joint and the screw meets the strength requirement or not can be accurately judged, and early calculation can be provided for other analysis stress conditions.
The embodiment of the present application further provides a stress analysis device for a robot, and it should be noted that the stress analysis device for a robot according to the embodiment of the present application may be used to execute the stress analysis method for a robot according to the embodiment of the present application. The following describes a stress analysis device for a robot according to an embodiment of the present invention.
Fig. 5 is a schematic view of a stress analysis apparatus of a robot according to an embodiment of the present application. As shown in fig. 5, the apparatus includes:
an importing unit 60, configured to import a STEP format file of a component to be analyzed of the robot into finite element analysis software, where the component to be analyzed includes a joint and a screw connected to the joint;
a dividing unit 70 for dividing the mesh of the component to be analyzed;
a determination unit 80 for determining a material property of the component to be analyzed;
an establishing unit 90 for establishing a mutual relationship between the mutually contacting portions of the above-mentioned components to be analyzed;
a first setting unit 100 for setting analysis steps and applying a boundary condition and a load for each of the analysis steps;
and the calculating unit 110 is configured to calculate the stress applied to the joint component and the stress applied to the screw by using the finite element analysis software according to the material property, the binding constraint relationship, the boundary condition, and the load.
In the device, an importing unit imports a STEP format file of a part to be analyzed of the robot into finite element analysis software, wherein the part to be analyzed comprises a joint and a screw connected with the joint, a dividing unit divides a mesh of the part to be analyzed, a determining unit determines a material property of the part to be analyzed, a building unit builds a mutual relation between mutually contacted parts of the part to be analyzed, a first setting unit sets an analysis STEP and applies a boundary condition and a load of each analysis STEP, and a calculating unit calculates the stress borne by the joint part and the stress borne by the screw by the finite element analysis software according to the material property, the binding constraint relation, the boundary condition and the load. In the device, the joints of the robot and the screws connected with the joints are divided into grids, the material properties of the joints and the screws are determined, the joints and the screws are in mutual contact, the mutual relation between the contact parts of the joints and the screws is established, data is analyzed, the stress borne by the joint parts and the stress borne by the screws can be accurately calculated through finite element analysis software according to all acquired data, and then the strength analysis can be carried out on the joint parts and the screws, so that the problem that the stress borne by the joint parts and the screws is difficult to detect and analyze is solved.
In an embodiment of the present application, the dividing unit includes a first dividing module and a second dividing module, and the first dividing module is configured to divide the joint into a tetrahedral second-order unit; the second division module is used to divide the screw 30 into hexahedral units. As shown in fig. 2, the joints are divided into a first joint 10 and a second joint 20, the first joint 10 and the second joint 20 are divided into tetrahedral second-order units, the screw 30 is divided into hexahedral units, all data of the joints and the screw 30 can be obtained, after the data are divided into grids, each grid can be calculated subsequently, and the accuracy of the subsequent calculation result is guaranteed to be good.
In another embodiment of the present application, the determining unit includes a first determining module and a second determining module, the first determining module is configured to determine an elastic modulus and a poisson's ratio of the joint; the second determining module is used for determining the elastic modulus and the Poisson's ratio of the screw. In this embodiment, the elastic modulus of the joint is 70000MPa, the poisson's ratio is 0.33, the elastic modulus of the screw is 2000000MPa, and the poisson's ratio is 0.3, which can accurately determine the elastic modulus and poisson's ratio of the joint, the elastic modulus and poisson's ratio of the screw, and thus can more accurately determine the material properties of the component to be analyzed,
of course, in actual use, the elastic modulus and the poisson's ratio of the joint are not limited to the above data, and may be other data, and the elastic modulus and the poisson's ratio of the screw may be other data as well.
In another embodiment of the present application, the establishing unit includes a first establishing module, a second establishing module, and a third establishing module, and the first establishing module is configured to establish surface-to-surface contact between the joints that are in contact with each other; the second establishing module is used for establishing surface-to-surface contact between the mutually contacted joint and the screw 30, and the third establishing module is used for establishing the binding constraint relation between the mutually contacted screw 30 and the joint. In this embodiment, a surface-to-surface contact between the first joint 10 and the second joint 20 in fig. 2 may be established, a surface-to-surface contact between the plurality of screws 30 and the first joint 10 may also be established, and a binding constraint relationship between the screws 30 and the second joint 20 that are in contact with each other may also be established, so that an accurate correlation between the first joint 10, the second joint 20, and the screws 30 may be established, and it may be further ensured that a result of calculating stresses borne by the joint components and the screws 30 is accurate subsequently.
In yet another embodiment of the present application, the third establishing module includes a first determining submodule, a second determining submodule and a binding constraint submodule, wherein the first determining submodule is configured to determine a portion of the joint connected to the screw as a main surface of a constraint; the second determining submodule is used for determining the surface of the screw connected with the joint as a slave surface; and the binding constraint submodule is used for carrying out binding constraint on the main surface and the auxiliary surface to form the binding constraint relation. In this embodiment, the constraint type may be Tie, the portion of the joint connected to the screw may be used as a master surface, the surface of the screw connected to the joint may be used as a slave surface, and the binding constraint may be established according to the master surface and the slave surface, so that a more accurate binding constraint relationship may be formed, a contact attribute with coulomb Friction may also be defined, mechanical — probabilistic Behavior may be used to change the Friction type to Friction Behavior: the friction factor may be 0.15, and this embodiment may establish a more accurate correlation between the portions of the parts to be analyzed that are in contact with each other, and may subsequently further ensure that the calculation result is more accurate.
In a specific embodiment of the present application, the apparatus further includes a second setting unit, the second setting unit is configured to set a static analysis in the analysis step after the analysis step is set, before the finite element analysis software is used to calculate the stress of the joint component and the stress of the screw according to the material property, the binding constraint relationship, the boundary condition, and the load. In this embodiment, the data is analyzed by using the statics analysis, so that a relatively accurate analysis result can be obtained, and the calculation speed can be increased.
In another embodiment of the present application, the first setting unit includes a load applying module (for applying a bolt pretightening force) for fixing the joint, and the bolt 30 applies a bolt pretightening force σca＝1.3F0/πd1 2/4, wherein F0For pre-tightening force, sigma, to which the bolt is subjectedcaIs the stress to which the bolt is subjected, d1Is the bolt radius. In this embodiment, bolt pretension is applied to the screw 30, as shown in FIG. 3, bolt load and binding constraint can also be applied to the screw 30, as shown in FIG. 4, which shows the face 40 that applies load to the screw 30 and the face 50 that applies binding constraint, F0Has the unit of N, d1The unit of (2) is mm, bolt pretightening force is applied to the screws 30, the obtained data can be analyzed and solved, the model can be composed of two joints and 7 screws 30, and the model is analyzed and processed through the previous steps, so that more accurate analyzed data can be obtained.
In yet another embodiment of the present application, the apparatus further includes a determining unit, where the determining unit is configured to determine whether the connection between the joint and the screw meets the strength requirement according to the stress received by the joint component and the stress received by the screw after calculating the stress of the joint component and the stress of the screw by using the finite element analysis software according to the material property, the binding constraint relationship, the boundary condition, and the load. In the embodiment, through the previous steps, the stress change conditions of the first joint, the second joint and the screw can be checked according to the cloud picture, so that whether the connection between the joint and the screw meets the strength requirement or not can be accurately judged, and early calculation can be provided for other analysis stress conditions.
In order to make the technical solutions of the present application more clearly understood by those skilled in the art, the technical solutions and technical effects of the present application will be described below with reference to specific embodiments.
Examples
As shown in fig. 6, a STEP format file of a component to be analyzed of the robot is imported into finite element analysis software, wherein the component to be analyzed comprises a joint and a screw connected with the joint;
dividing a part to be analyzed into grids;
determining material properties of a component to be analyzed;
establishing a correlation between mutually contacting portions of the components to be analyzed;
setting analysis steps, and applying boundary conditions and loads of each analysis step;
calculating the stress borne by the joint parts and the stress borne by the screw by utilizing finite element analysis software according to the material properties, the binding constraint relation, the boundary conditions and the load;
judging whether the connection between the joint and the screw meets the strength requirement or not according to the stress borne by the joint part and the stress borne by the screw;
and checking the result.
The robot stress analysis device comprises a processor and a memory, wherein the importing unit, the dividing unit, the determining unit, the establishing unit, the first setting unit, the calculating unit and the like are stored in the memory as program units, and the processor executes the program units stored in the memory to realize corresponding functions.
The processor comprises a kernel, and the kernel calls the corresponding program unit from the memory. One or more than one inner core can be set, and the stress borne by the joint parts and the screws is detected and analyzed by adjusting the parameters of the inner core.
The memory may include volatile memory in a computer readable medium, Random Access Memory (RAM) and/or nonvolatile memory such as Read Only Memory (ROM) or flash memory (flash RAM), and the memory includes at least one memory chip.
An embodiment of the present invention provides a storage medium on which a program is stored, the program implementing the stress analysis method of the robot described above when executed by a processor.
The embodiment of the invention provides a processor, which is used for running a program, wherein the stress analysis method of the robot is executed when the program runs.
The embodiment of the invention provides equipment, which comprises a processor, a memory and a program which is stored on the memory and can run on the processor, wherein when the processor executes the program, at least the following steps are realized:
STEP S101, importing a STEP format file of a part to be analyzed of a robot into finite element analysis software, wherein the part to be analyzed comprises a joint and a screw connected with the joint;
step S102, dividing grids for the component to be analyzed;
step S103, determining the material property of the component to be analyzed;
step S104, establishing the mutual relation among the mutually contacted parts of the components to be analyzed;
step S105, setting analysis steps, and applying boundary conditions and loads of each analysis step;
and step S106, calculating the stress borne by the joint part and the stress borne by the screw by using the finite element analysis software according to the material property, the binding constraint relation, the boundary condition and the load.
The device herein may be a server, a PC, a PAD, a mobile phone, etc.
The present application further provides a computer program product adapted to perform a program of initializing at least the following method steps when executed on a data processing device:
STEP S101, importing a STEP format file of a part to be analyzed of a robot into finite element analysis software, wherein the part to be analyzed comprises a joint and a screw connected with the joint;
step S102, dividing grids for the component to be analyzed;
step S103, determining the material property of the component to be analyzed;
step S104, establishing the mutual relation among the mutually contacted parts of the components to be analyzed;
step S105, setting analysis steps, and applying boundary conditions and loads of each analysis step;
and step S106, calculating the stress borne by the joint part and the stress borne by the screw by using the finite element analysis software according to the material property, the binding constraint relation, the boundary condition and the load.
In the above embodiments of the present invention, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.
In the embodiments provided in the present application, it should be understood that the disclosed technology can be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the above-described division of the units may be a logical division, and in actual implementation, there may be another division, for example, multiple units or components may be combined or may be integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, units or modules, and may be in an electrical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit may be stored in a computer-readable storage medium if it is implemented in the form of a software functional unit and sold or used as a separate product. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the above methods according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic or optical disk, and other various media capable of storing program codes.
From the above description, it can be seen that the above-described embodiments of the present application achieve the following technical effects:
1) the stress analysis method of the robot comprises the STEPs of firstly, importing a STEP format file of a part to be analyzed of the robot into finite element analysis software, wherein the part to be analyzed comprises a joint and a screw connected with the joint, then, dividing a grid of the part to be analyzed, then, determining material properties of the part to be analyzed, then, establishing a mutual relation between mutually contacted parts of the part to be analyzed, then, setting an analysis STEP, applying a boundary condition and a load of each analysis STEP, and finally, calculating stress borne by the joint part and stress borne by the screw by the finite element analysis software according to the material properties, the binding constraint relation, the boundary condition and the load. According to the method, the joints of the robot and the screws connected with the joints are divided into grids, then the material properties of the joints and the screws are determined, the joints and the screws are in mutual contact, the mutual relation between the contact parts of the joints and the screws is established, the data is analyzed, the stress borne by the joint parts and the stress borne by the screws can be accurately calculated through finite element analysis software according to all the obtained data, and then the strength analysis can be carried out on the joint parts and the screws, so that the problem that the stress borne by the joint parts and the screws is difficult to detect and analyze is solved.
2) The stress analysis device of the robot comprises an importing unit, wherein the importing unit imports a STEP format file of a part to be analyzed of the robot into finite element analysis software, the part to be analyzed comprises a joint and a screw connected with the joint, a dividing unit divides a grid of the part to be analyzed, a determining unit determines the material property of the part to be analyzed, a building unit builds the mutual relation between the parts of the part to be analyzed, a first setting unit sets analysis STEPs and applies boundary conditions and loads of each analysis STEP, and a calculating unit calculates the stress borne by the joint part and the stress borne by the screw by the finite element analysis software according to the material property, the binding constraint relation, the boundary conditions and the loads. In the device, the joints of the robot and the screws connected with the joints are divided into grids, the material properties of the joints and the screws are determined, the joints and the screws are in mutual contact, the mutual relation between the contact parts of the joints and the screws is established, data is analyzed, the stress borne by the joint parts and the stress borne by the screws can be accurately calculated through finite element analysis software according to all acquired data, and then the strength analysis can be carried out on the joint parts and the screws, so that the problem that the stress borne by the joint parts and the screws is difficult to detect and analyze is solved.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims (11)
1. A method for analyzing stress of a robot, comprising:
importing a STEP format file of a component to be analyzed of a robot into finite element analysis software, wherein the component to be analyzed comprises a joint and a screw connected with the joint;
dividing grids for the component to be analyzed;
determining material properties of the component to be analyzed;
establishing a correlation between mutually contacting portions of the components to be analyzed;
setting analysis steps, and applying boundary conditions and loads of each analysis step;
and calculating the stress borne by the joint part and the stress borne by the screw by utilizing the finite element analysis software according to the material property, the binding constraint relation, the boundary condition and the load.
2. The method of claim 1, wherein meshing the component to be analyzed comprises:
dividing the joint into tetrahedral second order units;
the screw is divided into hexahedral units.
3. The method of claim 1, wherein determining material properties of the component to be analyzed comprises:
determining the elastic modulus and poisson's ratio of the joint;
determining the elastic modulus and Poisson's ratio of the screw.
4. The method according to claim 1, characterized in that establishing a mutual relationship between mutually contacting portions of the components to be analyzed comprises:
establishing surface-to-surface contact between the joints in contact with each other;
establishing a surface-to-surface contact between the joint and the screw in contact with each other,
establishing the binding relationship between the screw and the joint in contact with each other.
5. The method of claim 4, wherein establishing the binding relationship between the screw and the joint in contact with each other comprises:
determining the part of the joint connected with the screw as a main surface of constraint;
determining the surface of the screw connected with the joint as a slave surface;
and carrying out binding constraint between the main surface and the auxiliary surface to form the binding constraint relation.
6. The method of claim 1, wherein after the step of setting an analysis, before calculating the stress of the joint component and the stress of the screw using the finite element analysis software based on the material properties, the binding constraints, the boundary conditions, and the loads, the method further comprises:
and setting static analysis in the analysis step.
7. The method of claim 1, wherein applying the boundary conditions and the load for each of the analysis steps comprises:
fixing the joint, applying a bolt pre-tightening force to the screw, the bolt pre-tightening force sigmaca＝1.3F0/πd1 2/4, wherein F0For pre-tightening force, σ, to which the bolt is subjectedcaIs the stress to which the bolt is subjected, d1Is the bolt radius.
8. The method of any of claims 1-7, wherein after calculating the stresses experienced by the joint component and the stresses experienced by the screw using the finite element analysis software based on the material properties, binding constraints, the boundary conditions, and the loads, the method further comprises:
and judging whether the connection between the joint and the screw meets the strength requirement or not according to the stress borne by the joint part and the stress borne by the screw.
9. A stress analysis device for a robot, comprising:
the system comprises an importing unit, a finite element analyzing unit and a control unit, wherein the importing unit is used for importing a STEP format file of a component to be analyzed of a robot into finite element analyzing software, and the component to be analyzed comprises a joint and a screw connected with the joint;
the dividing unit is used for dividing grids for the component to be analyzed;
a determination unit for determining a material property of the component to be analyzed;
an establishing unit for establishing a mutual relationship between mutually contacting portions of the components to be analyzed;
a first setting unit for setting analysis steps and applying a boundary condition and a load for each of the analysis steps;
and the computing unit is used for computing the stress borne by the joint part and the stress borne by the screw by utilizing the finite element analysis software according to the material property, the binding constraint relation, the boundary condition and the load.
10. A computer-readable storage medium, characterized in that the storage medium comprises a stored program, wherein the program performs the method of any one of claims 1 to 8.
11. A processor, characterized in that the processor is configured to run a program, wherein the program when running performs the method of any of claims 1 to 8.
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